In this paper we present a novel approach to controlling small unmanned aircraft in third-person perspective scenarios. Our approach uses monocular imagery to mimic the human ability to perceive and control a remote aircraft. This allows for the autonomous control of a wide variety of aircraft with minimal on-board sensors. We improve upon other 2D single-shot detection methods by estimating a 3D box containing the aircraft, which allows us to capture a vehicle’s position and attitude as measurements. Using a constant-jerk Kalman filter, we then estimate the complete aircraft state from these measurements. Finally a proportional-integral-derivative controller is used to provide closed-loop autonomous flight of an aircraft from a remote location. Hardware experiments of a completely autonomous vehicle flying waypoints illustrate the validity of this method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Autonomous Remote Control of Small Unmanned Aircraft


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2023-04-21


    Format / Umfang :

    9 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    AUTONOMOUS CONTROL OF UNMANNED AIRCRAFT

    TRENCH ANDREW ARCHER | Europäisches Patentamt | 2018

    Freier Zugriff

    REMOTE-CONTROL TYPE UNMANNED AIRCRAFT AND CONTROL HANDOVER METHOD FOR REMOTE-CONTROL TYPE UNMANNED AIRCRAFT

    SUGAKI KIYOKAZU / KUSUMOTO SHINTARO / ICHIHARA KAZUO | Europäisches Patentamt | 2017

    Freier Zugriff

    The Unmanned Autonomous Aircraft Control System (UAACS)

    Patel, Shivang / Brinton, Chris / Gallet, Bart et al. | AIAA | 2011


    The Unmanned Aircraft Autonomous Control System (UAACS)

    Patel, S. / Brinton, C. / Pledgie, S. et al. | British Library Conference Proceedings | 2011


    SMALL UNMANNED AIRCRAFT CONTROL METHOD

    ICHIHARA KAZUO | Europäisches Patentamt | 2017

    Freier Zugriff